add kinetis_k family and teensy_35

- teensy_35 is not able to blink led with board_test though, probably due to clock config.

15 files changed, 1100 insertions, 1 deletions

diff --git a/.idea/cmake.xml b/.idea/cmake.xml
index 788f70433..e8f65dcce 100644
--- a/.idea/cmake.xml
+++ b/.idea/cmake.xml
@@ -39,6 +39,7 @@
       <configuration PROFILE_NAME="b_g474e_dpow1" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=b_g474e_dpow1 -DLOG=3 -DLOGGER=RTT" />
       <configuration PROFILE_NAME="b_g474e_dpow1 iar" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=b_g474e_dpow1 -DTOOLCHAIN=iar" />
       <configuration PROFILE_NAME="frdm_kl25z" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=frdm_kl25z -DLOG=3 -DLOGGER=RTT" />
+      <configuration PROFILE_NAME="teensy_35" ENABLED="true" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=teensy_35" />
       <configuration PROFILE_NAME="stm32h743eval" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=stm32h743eval -DLOG=3 -DLOGGER=RTT -DTRACE_ETM=1" />
       <configuration PROFILE_NAME="stm32f072disco" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=stm32f072disco" />
       <configuration PROFILE_NAME="stm32f103_mini_2" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=stm32f103_mini_2" />
diff --git a/hw/bsp/family_support.cmake b/hw/bsp/family_support.cmake
index b2e61a824..b8cbbee38 100644
--- a/hw/bsp/family_support.cmake
+++ b/hw/bsp/family_support.cmake
@@ -379,6 +379,18 @@ function(family_flash_pyocd TARGET)
 endfunction()
 
 
+# Add flash teensy_cli target
+function(family_flash_teensy TARGET)
+  if (NOT DEFINED TEENSY_CLI)
+    set(TEENSY_CLI teensy_loader_cli)
+  endif ()
+
+  add_custom_target(${TARGET}-teensy
+    DEPENDS ${TARGET}
+    COMMAND ${TEENSY_CLI} --mcu=${TEENSY_MCU} -w -s $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.hex
+    )
+endfunction()
+
 # Add flash using NXP's LinkServer (redserver)
 # https://www.nxp.com/design/software/development-software/mcuxpresso-software-and-tools-/linkserver-for-microcontrollers:LINKERSERVER
 function(family_flash_nxplink TARGET)
diff --git a/hw/bsp/kinetis_k/FreeRTOSConfig/FreeRTOSConfig.h b/hw/bsp/kinetis_k/FreeRTOSConfig/FreeRTOSConfig.h
new file mode 100644
index 000000000..a46af1759
--- /dev/null
+++ b/hw/bsp/kinetis_k/FreeRTOSConfig/FreeRTOSConfig.h
@@ -0,0 +1,165 @@
+/*
+ * FreeRTOS Kernel V10.0.0
+ * Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software. If you wish to use our Amazon
+ * FreeRTOS name, please do so in a fair use way that does not cause confusion.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+ *
+ * See http://www.freertos.org/a00110.html.
+ *----------------------------------------------------------*/
+
+// skip if included from IAR assembler
+#ifndef __IASMARM__
+  #include "fsl_device_registers.h"
+#endif
+
+/* Cortex M23/M33 port configuration. */
+#define configENABLE_MPU                        0
+#define configENABLE_FPU                        1
+#define configENABLE_TRUSTZONE                  0
+#define configMINIMAL_SECURE_STACK_SIZE         (1024)
+
+#define configUSE_PREEMPTION                    1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configCPU_CLOCK_HZ                      SystemCoreClock
+#define configTICK_RATE_HZ                      ( 1000 )
+#define configMAX_PRIORITIES                    ( 5 )
+#define configMINIMAL_STACK_SIZE                ( 128 )
+#define configTOTAL_HEAP_SIZE                   ( configSUPPORT_DYNAMIC_ALLOCATION*4*1024 )
+#define configMAX_TASK_NAME_LEN                 16
+#define configUSE_16_BIT_TICKS                  0
+#define configIDLE_SHOULD_YIELD                 1
+#define configUSE_MUTEXES                       1
+#define configUSE_RECURSIVE_MUTEXES             1
+#define configUSE_COUNTING_SEMAPHORES           1
+#define configQUEUE_REGISTRY_SIZE               2
+#define configUSE_QUEUE_SETS                    0
+#define configUSE_TIME_SLICING                  0
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     1
+#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP   0
+
+#define configSUPPORT_STATIC_ALLOCATION         0
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK                    0
+#define configUSE_TICK_HOOK                    0
+#define configUSE_MALLOC_FAILED_HOOK           0 // cause nested extern warning
+#define configCHECK_FOR_STACK_OVERFLOW         2
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS          0
+#define configRECORD_STACK_HIGH_ADDRESS        1
+#define configUSE_TRACE_FACILITY               1 // legacy trace
+#define configUSE_STATS_FORMATTING_FUNCTIONS   0
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES                  0
+#define configMAX_CO_ROUTINE_PRIORITIES        2
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS                       1
+#define configTIMER_TASK_PRIORITY              (configMAX_PRIORITIES-2)
+#define configTIMER_QUEUE_LENGTH               32
+#define configTIMER_TASK_STACK_DEPTH           configMINIMAL_STACK_SIZE
+
+/* Optional functions - most linkers will remove unused functions anyway. */
+#define INCLUDE_vTaskPrioritySet               0
+#define INCLUDE_uxTaskPriorityGet              0
+#define INCLUDE_vTaskDelete                    0
+#define INCLUDE_vTaskSuspend                   1 // required for queue, semaphore, mutex to be blocked indefinitely with portMAX_DELAY
+#define INCLUDE_xResumeFromISR                 0
+#define INCLUDE_vTaskDelayUntil                1
+#define INCLUDE_vTaskDelay                     1
+#define INCLUDE_xTaskGetSchedulerState         0
+#define INCLUDE_xTaskGetCurrentTaskHandle      1
+#define INCLUDE_uxTaskGetStackHighWaterMark    0
+#define INCLUDE_xTaskGetIdleTaskHandle         0
+#define INCLUDE_xTimerGetTimerDaemonTaskHandle 0
+#define INCLUDE_pcTaskGetTaskName              0
+#define INCLUDE_eTaskGetState                  0
+#define INCLUDE_xEventGroupSetBitFromISR       0
+#define INCLUDE_xTimerPendFunctionCall         0
+
+/* Define to trap errors during development. */
+// Halt CPU (breakpoint) when hitting error, only apply for Cortex M3, M4, M7
+#if defined(__ARM_ARCH_7M__) || defined (__ARM_ARCH_7EM__)
+  #define configASSERT(_exp) \
+    do {\
+      if ( !(_exp) ) { \
+        volatile uint32_t* ARM_CM_DHCSR =  ((volatile uint32_t*) 0xE000EDF0UL); /* Cortex M CoreDebug->DHCSR */ \
+        if ( (*ARM_CM_DHCSR) & 1UL ) {  /* Only halt mcu if debugger is attached */ \
+          taskDISABLE_INTERRUPTS(); \
+           __asm("BKPT #0\n"); \
+        }\
+      }\
+    } while(0)
+#else
+  #define configASSERT( x )
+#endif
+
+/* FreeRTOS hooks to NVIC vectors */
+#define xPortPendSVHandler    PendSV_Handler
+#define xPortSysTickHandler   SysTick_Handler
+#define vPortSVCHandler       SVC_Handler
+
+//--------------------------------------------------------------------+
+// Interrupt nesting behavior configuration.
+//--------------------------------------------------------------------+
+
+// For Cortex-M specific: __NVIC_PRIO_BITS is defined in mcu header
+#define configPRIO_BITS       2
+
+/* The lowest interrupt priority that can be used in a call to a "set priority" function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			  ((1<<configPRIO_BITS) - 1)
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY	2
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY 		          ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	        ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+#endif /* __FREERTOS_CONFIG__H */
diff --git a/hw/bsp/kinetis_k/boards/teensy_35/board.cmake b/hw/bsp/kinetis_k/boards/teensy_35/board.cmake
new file mode 100644
index 000000000..bd253d996
--- /dev/null
+++ b/hw/bsp/kinetis_k/boards/teensy_35/board.cmake
@@ -0,0 +1,17 @@
+set(MCU_VARIANT MK64F12)
+
+set(JLINK_DEVICE MK64FX512xxx12)
+set(TEENSY_MCU TEENSY35)
+set(PYOCD_TARGET k64f)
+
+set(LD_FILE_GNU ${SDK_DIR}/devices/${MCU_VARIANT}/gcc/MK64FX512xxx12_flash.ld)
+
+function(update_board TARGET)
+  target_sources(${TARGET} PUBLIC
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/board/pin_mux.c
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/board/clock_config.c
+    )
+  target_compile_definitions(${TARGET} PUBLIC
+    CPU_MK64FX512VMD12
+    )
+endfunction()
diff --git a/hw/bsp/kinetis_k/boards/teensy_35/board.h b/hw/bsp/kinetis_k/boards/teensy_35/board.h
new file mode 100644
index 000000000..f8173447a
--- /dev/null
+++ b/hw/bsp/kinetis_k/boards/teensy_35/board.h
@@ -0,0 +1,48 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2023 Ha Thach (tinyusb.org)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef BOARD_H
+#define BOARD_H
+
+//--------------------------------------------------------------------+
+// MACRO TYPEDEF CONSTANT ENUM DECLARATION
+//--------------------------------------------------------------------+
+// LED
+#define LED_PORT              GPIOC
+#define LED_PIN               5
+#define LED_STATE_ON          1
+
+// Button
+
+// UART
+//#define UART_PORT             UART0
+//#define UART_PIN_CLOCK        kCLOCK_PortA
+//#define UART_PIN_PORT         PORTA
+//#define UART_PIN_RX           1u
+//#define UART_PIN_TX           2u
+//#define UART_PIN_FUNCTION     kPORT_MuxAlt2
+//#define SOPT5_UART0RXSRC_UART_RX      0x00u   /*!< UART0 receive data source select: UART0_RX pin */
+//#define SOPT5_UART0TXSRC_UART_TX      0x00u   /*!< UART0 transmit data source select: UART0_TX pin */
+
+#endif
diff --git a/hw/bsp/kinetis_k/boards/teensy_35/board.mk b/hw/bsp/kinetis_k/boards/teensy_35/board.mk
new file mode 100644
index 000000000..2c4f87c25
--- /dev/null
+++ b/hw/bsp/kinetis_k/boards/teensy_35/board.mk
@@ -0,0 +1,23 @@
+MCU_VARIANT = MK64F12
+
+CFLAGS += \
+  -DCPU_MK64FX512VMD12 \
+
+# mcu driver cause following warnings
+CFLAGS += -Wno-error=unused-parameter -Wno-error=format -Wno-error=redundant-decls
+
+SRC_C += \
+	$(BOARD_PATH)/board/clock_config.c \
+	$(BOARD_PATH)/board/pin_mux.c \
+
+LD_FILE = ${SDK_DIR}/devices/${MCU_VARIANT}/gcc/MK64FX512xxx12_flash.ld
+
+# For flash-jlink target
+JLINK_DEVICE = MK64FX512xxx12
+
+# For flash-pyocd target
+PYOCD_TARGET = k64f
+
+# flash by using teensy_loader_cli https://github.com/PaulStoffregen/teensy_loader_cli
+flash: $(BUILD)/$(PROJECT).hex
+	teensy_loader_cli --mcu=TEENSY35 -v -w $<
diff --git a/hw/bsp/kinetis_k/boards/teensy_35/board/clock_config.c b/hw/bsp/kinetis_k/boards/teensy_35/board/clock_config.c
new file mode 100644
index 000000000..b69d10ccb
--- /dev/null
+++ b/hw/bsp/kinetis_k/boards/teensy_35/board/clock_config.c
@@ -0,0 +1,186 @@
+/***********************************************************************************************************************
+ * This file was generated by the MCUXpresso Config Tools. Any manual edits made to this file
+ * will be overwritten if the respective MCUXpresso Config Tools is used to update this file.
+ **********************************************************************************************************************/
+/*
+ * How to setup clock using clock driver functions:
+ *
+ * 1. CLOCK_SetSimSafeDivs, to make sure core clock, bus clock, flexbus clock
+ *    and flash clock are in allowed range during clock mode switch.
+ *
+ * 2. Call CLOCK_Osc0Init to setup OSC clock, if it is used in target mode.
+ *
+ * 3. Set MCG configuration, MCG includes three parts: FLL clock, PLL clock and
+ *    internal reference clock(MCGIRCLK). Follow the steps to setup:
+ *
+ *    1). Call CLOCK_BootToXxxMode to set MCG to target mode.
+ *
+ *    2). If target mode is FBI/BLPI/PBI mode, the MCGIRCLK has been configured
+ *        correctly. For other modes, need to call CLOCK_SetInternalRefClkConfig
+ *        explicitly to setup MCGIRCLK.
+ *
+ *    3). Don't need to configure FLL explicitly, because if target mode is FLL
+ *        mode, then FLL has been configured by the function CLOCK_BootToXxxMode,
+ *        if the target mode is not FLL mode, the FLL is disabled.
+ *
+ *    4). If target mode is PEE/PBE/PEI/PBI mode, then the related PLL has been
+ *        setup by CLOCK_BootToXxxMode. In FBE/FBI/FEE/FBE mode, the PLL could
+ *        be enabled independently, call CLOCK_EnablePll0 explicitly in this case.
+ *
+ * 4. Call CLOCK_SetSimConfig to set the clock configuration in SIM.
+ */
+
+/* clang-format off */
+/* TEXT BELOW IS USED AS SETTING FOR TOOLS *************************************
+!!GlobalInfo
+product: Clocks v11.0
+processor: MK64FX512xxx12
+package_id: MK64FX512VLQ12
+mcu_data: ksdk2_0
+processor_version: 13.0.1
+ * BE CAREFUL MODIFYING THIS COMMENT - IT IS YAML SETTINGS FOR TOOLS **********/
+/* clang-format on */
+
+#include "clock_config.h"
+
+/*******************************************************************************
+ * Definitions
+ ******************************************************************************/
+#define MCG_IRCLK_DISABLE                                 0U  /*!< MCGIRCLK disabled */
+#define OSC_CAP0P                                         0U  /*!< Oscillator 0pF capacitor load */
+#define OSC_ER_CLK_DISABLE                                0U  /*!< Disable external reference clock */
+#define SIM_OSC32KSEL_OSC32KCLK_CLK                       0U  /*!< OSC32KSEL select: OSC32KCLK clock */
+#define SIM_PLLFLLSEL_MCGPLLCLK_CLK                       1U  /*!< PLLFLL select: MCGPLLCLK clock */
+#define SIM_USB_CLK_120000000HZ                   120000000U  /*!< Input SIM frequency for USB: 120000000Hz */
+
+/*******************************************************************************
+ * Variables
+ ******************************************************************************/
+
+/*******************************************************************************
+ * Code
+ ******************************************************************************/
+/*FUNCTION**********************************************************************
+ *
+ * Function Name : CLOCK_CONFIG_SetFllExtRefDiv
+ * Description   : Configure FLL external reference divider (FRDIV).
+ * Param frdiv   : The value to set FRDIV.
+ *
+ *END**************************************************************************/
+static void CLOCK_CONFIG_SetFllExtRefDiv(uint8_t frdiv)
+{
+    MCG->C1 = ((MCG->C1 & ~MCG_C1_FRDIV_MASK) | MCG_C1_FRDIV(frdiv));
+}
+
+/*******************************************************************************
+ ************************ BOARD_InitBootClocks function ************************
+ ******************************************************************************/
+void BOARD_InitBootClocks(void)
+{
+    BOARD_BootClockRUN();
+}
+
+/*******************************************************************************
+ ********************** Configuration BOARD_BootClockRUN ***********************
+ ******************************************************************************/
+/* clang-format off */
+/* TEXT BELOW IS USED AS SETTING FOR TOOLS *************************************
+!!Configuration
+name: BOARD_BootClockRUN
+called_from_default_init: true
+outputs:
+- {id: Bus_clock.outFreq, value: 60 MHz}
+- {id: Core_clock.outFreq, value: 120 MHz}
+- {id: Flash_clock.outFreq, value: 24 MHz}
+- {id: FlexBus_clock.outFreq, value: 40 MHz}
+- {id: LPO_clock.outFreq, value: 1 kHz}
+- {id: MCGFFCLK.outFreq, value: 500 kHz}
+- {id: PLLFLLCLK.outFreq, value: 120 MHz}
+- {id: System_clock.outFreq, value: 120 MHz}
+- {id: USB48MCLK.outFreq, value: 48 MHz}
+settings:
+- {id: MCGMode, value: PEE}
+- {id: MCG.FRDIV.scale, value: '32'}
+- {id: MCG.IREFS.sel, value: MCG.FRDIV}
+- {id: MCG.PLLS.sel, value: MCG.PLL}
+- {id: MCG.PRDIV.scale, value: '4'}
+- {id: MCG.VDIV.scale, value: '30'}
+- {id: MCG_C2_RANGE0_CFG, value: Very_high}
+- {id: MCG_C2_RANGE0_FRDIV_CFG, value: Very_high}
+- {id: MCG_C5_PLLCLKEN0_CFG, value: Enabled}
+- {id: RTC_CR_CLKO_CFG, value: Disabled}
+- {id: RTC_CR_OSC_CAP_LOAD_CFG, value: SC10PF}
+- {id: SIM.OUTDIV2.scale, value: '2'}
+- {id: SIM.OUTDIV3.scale, value: '3'}
+- {id: SIM.OUTDIV4.scale, value: '5'}
+- {id: SIM.PLLFLLSEL.sel, value: MCG.MCGPLLCLK}
+- {id: SIM.USBDIV.scale, value: '5'}
+- {id: SIM.USBFRAC.scale, value: '2'}
+- {id: SIM.USBSRCSEL.sel, value: SIM.USBDIV}
+- {id: USBClkConfig, value: 'yes'}
+sources:
+- {id: OSC.OSC.outFreq, value: 16 MHz, enabled: true}
+- {id: RTC.RTC32kHz.outFreq, value: 32.768 kHz, enabled: true}
+ * BE CAREFUL MODIFYING THIS COMMENT - IT IS YAML SETTINGS FOR TOOLS **********/
+/* clang-format on */
+
+/*******************************************************************************
+ * Variables for BOARD_BootClockRUN configuration
+ ******************************************************************************/
+const mcg_config_t mcgConfig_BOARD_BootClockRUN =
+    {
+        .mcgMode = kMCG_ModePEE,                  /* PEE - PLL Engaged External */
+        .irclkEnableMode = MCG_IRCLK_DISABLE,     /* MCGIRCLK disabled */
+        .ircs = kMCG_IrcSlow,                     /* Slow internal reference clock selected */
+        .fcrdiv = 0x1U,                           /* Fast IRC divider: divided by 2 */
+        .frdiv = 0x0U,                            /* FLL reference clock divider: divided by 32 */
+        .drs = kMCG_DrsLow,                       /* Low frequency range */
+        .dmx32 = kMCG_Dmx32Default,               /* DCO has a default range of 25% */
+        .oscsel = kMCG_OscselOsc,                 /* Selects System Oscillator (OSCCLK) */
+        .pll0Config =
+            {
+                .enableMode = kMCG_PllEnableIndependent,/* MCGPLLCLK enabled independent of MCG clock mode, MCGPLLCLK disabled in STOP mode */
+                .prdiv = 0x3U,                    /* PLL Reference divider: divided by 4 */
+                .vdiv = 0x6U,                     /* VCO divider: multiplied by 30 */
+            },
+    };
+const sim_clock_config_t simConfig_BOARD_BootClockRUN =
+    {
+        .pllFllSel = SIM_PLLFLLSEL_MCGPLLCLK_CLK, /* PLLFLL select: MCGPLLCLK clock */
+        .er32kSrc = SIM_OSC32KSEL_OSC32KCLK_CLK,  /* OSC32KSEL select: OSC32KCLK clock */
+        .clkdiv1 = 0x1240000U,                    /* SIM_CLKDIV1 - OUTDIV1: /1, OUTDIV2: /2, OUTDIV3: /3, OUTDIV4: /5 */
+    };
+const osc_config_t oscConfig_BOARD_BootClockRUN =
+    {
+        .freq = 16000000U,                        /* Oscillator frequency: 16000000Hz */
+        .capLoad = (OSC_CAP0P),                   /* Oscillator capacity load: 0pF */
+        .workMode = kOSC_ModeExt,                 /* Use external clock */
+        .oscerConfig =
+            {
+                .enableMode = OSC_ER_CLK_DISABLE, /* Disable external reference clock */
+            }
+    };
+
+/*******************************************************************************
+ * Code for BOARD_BootClockRUN configuration
+ ******************************************************************************/
+void BOARD_BootClockRUN(void)
+{
+    /* Set the system clock dividers in SIM to safe value. */
+    CLOCK_SetSimSafeDivs();
+    /* Initializes OSC0 according to board configuration. */
+    CLOCK_InitOsc0(&oscConfig_BOARD_BootClockRUN);
+    CLOCK_SetXtal0Freq(oscConfig_BOARD_BootClockRUN.freq);
+    /* Configure FLL external reference divider (FRDIV). */
+    CLOCK_CONFIG_SetFllExtRefDiv(mcgConfig_BOARD_BootClockRUN.frdiv);
+    /* Set MCG to PEE mode. */
+    CLOCK_BootToPeeMode(mcgConfig_BOARD_BootClockRUN.oscsel,
+                        kMCG_PllClkSelPll0,
+                        &mcgConfig_BOARD_BootClockRUN.pll0Config);
+    /* Set the clock configuration in SIM module. */
+    CLOCK_SetSimConfig(&simConfig_BOARD_BootClockRUN);
+    /* Set SystemCoreClock variable. */
+    SystemCoreClock = BOARD_BOOTCLOCKRUN_CORE_CLOCK;
+    /* Enable USB FS clock. */
+    CLOCK_EnableUsbfs0Clock(kCLOCK_UsbSrcPll0, SIM_USB_CLK_120000000HZ);
+}
diff --git a/hw/bsp/kinetis_k/boards/teensy_35/board/clock_config.h b/hw/bsp/kinetis_k/boards/teensy_35/board/clock_config.h
new file mode 100644
index 000000000..8601da9c2
--- /dev/null
+++ b/hw/bsp/kinetis_k/boards/teensy_35/board/clock_config.h
@@ -0,0 +1,69 @@
+/***********************************************************************************************************************
+ * This file was generated by the MCUXpresso Config Tools. Any manual edits made to this file
+ * will be overwritten if the respective MCUXpresso Config Tools is used to update this file.
+ **********************************************************************************************************************/
+
+#ifndef _CLOCK_CONFIG_H_
+#define _CLOCK_CONFIG_H_
+
+#include "fsl_common.h"
+
+/*******************************************************************************
+ * Definitions
+ ******************************************************************************/
+#define BOARD_XTAL0_CLK_HZ                         16000000U  /*!< Board xtal0 frequency in Hz */
+
+/*******************************************************************************
+ ************************ BOARD_InitBootClocks function ************************
+ ******************************************************************************/
+
+#if defined(__cplusplus)
+extern "C" {
+#endif /* __cplusplus*/
+
+/*!
+ * @brief This function executes default configuration of clocks.
+ *
+ */
+void BOARD_InitBootClocks(void);
+
+#if defined(__cplusplus)
+}
+#endif /* __cplusplus*/
+
+/*******************************************************************************
+ ********************** Configuration BOARD_BootClockRUN ***********************
+ ******************************************************************************/
+/*******************************************************************************
+ * Definitions for BOARD_BootClockRUN configuration
+ ******************************************************************************/
+#define BOARD_BOOTCLOCKRUN_CORE_CLOCK             120000000U  /*!< Core clock frequency: 120000000Hz */
+
+/*! @brief MCG set for BOARD_BootClockRUN configuration.
+ */
+extern const mcg_config_t mcgConfig_BOARD_BootClockRUN;
+/*! @brief SIM module set for BOARD_BootClockRUN configuration.
+ */
+extern const sim_clock_config_t simConfig_BOARD_BootClockRUN;
+/*! @brief OSC set for BOARD_BootClockRUN configuration.
+ */
+extern const osc_config_t oscConfig_BOARD_BootClockRUN;
+
+/*******************************************************************************
+ * API for BOARD_BootClockRUN configuration
+ ******************************************************************************/
+#if defined(__cplusplus)
+extern "C" {
+#endif /* __cplusplus*/
+
+/*!
+ * @brief This function executes configuration of clocks.
+ *
+ */
+void BOARD_BootClockRUN(void);
+
+#if defined(__cplusplus)
+}
+#endif /* __cplusplus*/
+
+#endif /* _CLOCK_CONFIG_H_ */
diff --git a/hw/bsp/kinetis_k/boards/teensy_35/board/pin_mux.c b/hw/bsp/kinetis_k/boards/teensy_35/board/pin_mux.c
new file mode 100644
index 000000000..d2c51e5c6
--- /dev/null
+++ b/hw/bsp/kinetis_k/boards/teensy_35/board/pin_mux.c
@@ -0,0 +1,61 @@
+/***********************************************************************************************************************
+ * This file was generated by the MCUXpresso Config Tools. Any manual edits made to this file
+ * will be overwritten if the respective MCUXpresso Config Tools is used to update this file.
+ **********************************************************************************************************************/
+
+/* clang-format off */
+/*
+ * TEXT BELOW IS USED AS SETTING FOR TOOLS *************************************
+!!GlobalInfo
+product: Pins v13.1
+processor: MK64FX512xxx12
+package_id: MK64FX512VLQ12
+mcu_data: ksdk2_0
+processor_version: 13.0.1
+ * BE CAREFUL MODIFYING THIS COMMENT - IT IS YAML SETTINGS FOR TOOLS ***********
+ */
+/* clang-format on */
+
+#include "fsl_common.h"
+#include "fsl_port.h"
+#include "pin_mux.h"
+
+/* FUNCTION ************************************************************************************************************
+ *
+ * Function Name : BOARD_InitBootPins
+ * Description   : Calls initialization functions.
+ *
+ * END ****************************************************************************************************************/
+void BOARD_InitBootPins(void)
+{
+    BOARD_InitPins();
+}
+
+/* clang-format off */
+/*
+ * TEXT BELOW IS USED AS SETTING FOR TOOLS *************************************
+BOARD_InitPins:
+- options: {callFromInitBoot: 'true', coreID: core0, enableClock: 'true'}
+- pin_list:
+  - {pin_num: '110', peripheral: GPIOC, signal: 'GPIO, 5', pin_signal: PTC5/LLWU_P9/SPI0_SCK/LPTMR0_ALT2/I2S0_RXD0/FB_AD10/CMP0_OUT/FTM0_CH2}
+ * BE CAREFUL MODIFYING THIS COMMENT - IT IS YAML SETTINGS FOR TOOLS ***********
+ */
+/* clang-format on */
+
+/* FUNCTION ************************************************************************************************************
+ *
+ * Function Name : BOARD_InitPins
+ * Description   : Configures pin routing and optionally pin electrical features.
+ *
+ * END ****************************************************************************************************************/
+void BOARD_InitPins(void)
+{
+    /* Port C Clock Gate Control: Clock enabled */
+    CLOCK_EnableClock(kCLOCK_PortC);
+
+    /* PORTC5 (pin 110) is configured as PTC5 */
+    PORT_SetPinMux(PORTC, 5U, kPORT_MuxAsGpio);
+}
+/***********************************************************************************************************************
+ * EOF
+ **********************************************************************************************************************/
diff --git a/hw/bsp/kinetis_k/boards/teensy_35/board/pin_mux.h b/hw/bsp/kinetis_k/boards/teensy_35/board/pin_mux.h
new file mode 100644
index 000000000..598ae8e9f
--- /dev/null
+++ b/hw/bsp/kinetis_k/boards/teensy_35/board/pin_mux.h
@@ -0,0 +1,45 @@
+/***********************************************************************************************************************
+ * This file was generated by the MCUXpresso Config Tools. Any manual edits made to this file
+ * will be overwritten if the respective MCUXpresso Config Tools is used to update this file.
+ **********************************************************************************************************************/
+
+#ifndef _PIN_MUX_H_
+#define _PIN_MUX_H_
+
+/*!
+ * @addtogroup pin_mux
+ * @{
+ */
+
+/***********************************************************************************************************************
+ * API
+ **********************************************************************************************************************/
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+/*!
+ * @brief Calls initialization functions.
+ *
+ */
+void BOARD_InitBootPins(void);
+
+/*!
+ * @brief Configures pin routing and optionally pin electrical features.
+ *
+ */
+void BOARD_InitPins(void);
+
+#if defined(__cplusplus)
+}
+#endif
+
+/*!
+ * @}
+ */
+#endif /* _PIN_MUX_H_ */
+
+/***********************************************************************************************************************
+ * EOF
+ **********************************************************************************************************************/
diff --git a/hw/bsp/kinetis_k/boards/teensy_35/teensy_35.mex b/hw/bsp/kinetis_k/boards/teensy_35/teensy_35.mex
new file mode 100644
index 000000000..52a087026
--- /dev/null
+++ b/hw/bsp/kinetis_k/boards/teensy_35/teensy_35.mex
@@ -0,0 +1,184 @@
+<?xml version="1.0" encoding= "UTF-8" ?>
+<configuration name="MK64FX512xxx12" xsi:schemaLocation="http://mcuxpresso.nxp.com/XSD/mex_configuration_13 http://mcuxpresso.nxp.com/XSD/mex_configuration_13.xsd" uuid="9011274c-fba8-40d5-b5c6-83fae0667023" version="13" xmlns="http://mcuxpresso.nxp.com/XSD/mex_configuration_13" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+   <common>
+      <processor>MK64FX512xxx12</processor>
+      <package>MK64FX512VLQ12</package>
+      <mcu_data>ksdk2_0</mcu_data>
+      <cores selected="core0">
+         <core name="Cortex-M4F" id="core0" description="M4 core"/>
+      </cores>
+      <description></description>
+   </common>
+   <preferences>
+      <validate_boot_init_only>true</validate_boot_init_only>
+      <generate_extended_information>false</generate_extended_information>
+      <generate_code_modified_registers_only>false</generate_code_modified_registers_only>
+      <update_include_paths>true</update_include_paths>
+      <generate_registers_defines>false</generate_registers_defines>
+   </preferences>
+   <tools>
+      <pins name="Pins" version="13.1" enabled="true" update_project_code="true">
+         <generated_project_files>
+            <file path="board/pin_mux.c" update_enabled="true"/>
+            <file path="board/pin_mux.h" update_enabled="true"/>
+         </generated_project_files>
+         <pins_profile>
+            <processor_version>13.0.1</processor_version>
+         </pins_profile>
+         <functions_list>
+            <function name="BOARD_InitPins">
+               <description>Configures pin routing and optionally pin electrical features.</description>
+               <options>
+                  <callFromInitBoot>true</callFromInitBoot>
+                  <coreID>core0</coreID>
+                  <enableClock>true</enableClock>
+               </options>
+               <dependencies>
+                  <dependency resourceType="SWComponent" resourceId="platform.drivers.common" description="Pins initialization requires the COMMON Driver in the project." problem_level="2" source="Pins:BOARD_InitPins">
+                     <feature name="enabled" evaluation="equal" configuration="core0">
+                        <data>true</data>
+                     </feature>
+                  </dependency>
+                  <dependency resourceType="SWComponent" resourceId="platform.drivers.port" description="Pins initialization requires the PORT Driver in the project." problem_level="2" source="Pins:BOARD_InitPins">
+                     <feature name="enabled" evaluation="equal" configuration="core0">
+                        <data>true</data>
+                     </feature>
+                  </dependency>
+               </dependencies>
+               <pins>
+                  <pin peripheral="GPIOC" signal="GPIO, 5" pin_num="110" pin_signal="PTC5/LLWU_P9/SPI0_SCK/LPTMR0_ALT2/I2S0_RXD0/FB_AD10/CMP0_OUT/FTM0_CH2"/>
+               </pins>
+            </function>
+         </functions_list>
+      </pins>
+      <clocks name="Clocks" version="11.0" enabled="true" update_project_code="true">
+         <generated_project_files>
+            <file path="board/clock_config.c" update_enabled="true"/>
+            <file path="board/clock_config.h" update_enabled="true"/>
+         </generated_project_files>
+         <clocks_profile>
+            <processor_version>13.0.1</processor_version>
+         </clocks_profile>
+         <clock_configurations>
+            <clock_configuration name="BOARD_BootClockRUN" id_prefix="" prefix_user_defined="false">
+               <description></description>
+               <options/>
+               <dependencies>
+                  <dependency resourceType="PinSignal" resourceId="OSC.EXTAL0" description="&apos;EXTAL0&apos; (Pins tool id: OSC.EXTAL0, Clocks tool id: OSC.EXTAL0) needs to be routed" problem_level="1" source="Clocks:BOARD_BootClockRUN">
+                     <feature name="routed" evaluation="">
+                        <data>true</data>
+                     </feature>
+                  </dependency>
+                  <dependency resourceType="PinSignal" resourceId="OSC.EXTAL0" description="&apos;EXTAL0&apos; (Pins tool id: OSC.EXTAL0, Clocks tool id: OSC.EXTAL0) needs to have &apos;INPUT&apos; direction" problem_level="1" source="Clocks:BOARD_BootClockRUN">
+                     <feature name="direction" evaluation="">
+                        <data>INPUT</data>
+                     </feature>
+                  </dependency>
+                  <dependency resourceType="SWComponent" resourceId="platform.drivers.common" description="Clocks initialization requires the COMMON Driver in the project." problem_level="2" source="Clocks:BOARD_BootClockRUN">
+                     <feature name="enabled" evaluation="equal" configuration="core0">
+                        <data>true</data>
+                     </feature>
+                  </dependency>
+               </dependencies>
+               <clock_sources>
+                  <clock_source id="OSC.OSC.outFreq" value="16 MHz" locked="false" enabled="true"/>
+                  <clock_source id="RTC.RTC32kHz.outFreq" value="32.768 kHz" locked="false" enabled="true"/>
+               </clock_sources>
+               <clock_outputs>
+                  <clock_output id="Bus_clock.outFreq" value="60 MHz" locked="false" accuracy=""/>
+                  <clock_output id="Core_clock.outFreq" value="120 MHz" locked="false" accuracy=""/>
+                  <clock_output id="Flash_clock.outFreq" value="24 MHz" locked="false" accuracy=""/>
+                  <clock_output id="FlexBus_clock.outFreq" value="40 MHz" locked="false" accuracy=""/>
+                  <clock_output id="LPO_clock.outFreq" value="1 kHz" locked="false" accuracy=""/>
+                  <clock_output id="MCGFFCLK.outFreq" value="500 kHz" locked="false" accuracy=""/>
+                  <clock_output id="PLLFLLCLK.outFreq" value="120 MHz" locked="false" accuracy=""/>
+                  <clock_output id="System_clock.outFreq" value="120 MHz" locked="false" accuracy=""/>
+                  <clock_output id="USB48MCLK.outFreq" value="48 MHz" locked="false" accuracy=""/>
+               </clock_outputs>
+               <clock_settings>
+                  <setting id="MCGMode" value="PEE" locked="false"/>
+                  <setting id="MCG.FRDIV.scale" value="32" locked="false"/>
+                  <setting id="MCG.IREFS.sel" value="MCG.FRDIV" locked="false"/>
+                  <setting id="MCG.PLLS.sel" value="MCG.PLL" locked="false"/>
+                  <setting id="MCG.PRDIV.scale" value="4" locked="false"/>
+                  <setting id="MCG.VDIV.scale" value="30" locked="false"/>
+                  <setting id="MCG_C2_RANGE0_CFG" value="Very_high" locked="false"/>
+                  <setting id="MCG_C2_RANGE0_FRDIV_CFG" value="Very_high" locked="false"/>
+                  <setting id="MCG_C5_PLLCLKEN0_CFG" value="Enabled" locked="false"/>
+                  <setting id="RTC_CR_CLKO_CFG" value="Disabled" locked="false"/>
+                  <setting id="RTC_CR_OSC_CAP_LOAD_CFG" value="SC10PF" locked="false"/>
+                  <setting id="SIM.OUTDIV2.scale" value="2" locked="false"/>
+                  <setting id="SIM.OUTDIV3.scale" value="3" locked="false"/>
+                  <setting id="SIM.OUTDIV4.scale" value="5" locked="false"/>
+                  <setting id="SIM.PLLFLLSEL.sel" value="MCG.MCGPLLCLK" locked="false"/>
+                  <setting id="SIM.USBDIV.scale" value="5" locked="false"/>
+                  <setting id="SIM.USBFRAC.scale" value="2" locked="false"/>
+                  <setting id="SIM.USBSRCSEL.sel" value="SIM.USBDIV" locked="false"/>
+                  <setting id="USBClkConfig" value="yes" locked="false"/>
+               </clock_settings>
+               <called_from_default_init>true</called_from_default_init>
+            </clock_configuration>
+         </clock_configurations>
+      </clocks>
+      <dcdx name="DCDx" version="3.0" enabled="false" update_project_code="true">
+         <generated_project_files/>
+         <dcdx_profile>
+            <processor_version>N/A</processor_version>
+         </dcdx_profile>
+         <dcdx_configurations/>
+      </dcdx>
+      <periphs name="Peripherals" version="12.0" enabled="false" update_project_code="true">
+         <generated_project_files/>
+         <peripherals_profile>
+            <processor_version>13.0.1</processor_version>
+         </peripherals_profile>
+         <functional_groups>
+            <functional_group name="BOARD_InitPeripherals" uuid="7465f6d1-08aa-48d8-91d5-05023b3186dd" called_from_default_init="true" id_prefix="" core="core0">
+               <description></description>
+               <options/>
+               <dependencies/>
+               <instances>
+                  <instance name="NVIC" uuid="84184268-649a-4026-9585-21289f314135" type="nvic" type_id="nvic_57b5eef3774cc60acaede6f5b8bddc67" mode="general" peripheral="NVIC" enabled="true" comment="" custom_name_enabled="false" editing_lock="false">
+                     <config_set name="nvic">
+                        <array name="interrupt_table"/>
+                        <array name="interrupts"/>
+                     </config_set>
+                  </instance>
+               </instances>
+            </functional_group>
+         </functional_groups>
+         <components>
+            <component name="system" uuid="069bcce2-44e2-4d92-af51-398354938128" type_id="system_54b53072540eeeb8f8e9343e71f28176">
+               <config_set_global name="global_system_definitions">
+                  <setting name="user_definitions" value=""/>
+                  <setting name="user_includes" value=""/>
+               </config_set_global>
+            </component>
+            <component name="msg" uuid="53b11db5-341e-452e-9e8e-d62a780aca7b" type_id="msg_6e2baaf3b97dbeef01c0043275f9a0e7">
+               <config_set_global name="global_messages"/>
+            </component>
+            <component name="gpio_adapter_common" uuid="038e164b-8b7a-4d53-8d64-b52445aa6477" type_id="gpio_adapter_common_57579b9ac814fe26bf95df0a384c36b6">
+               <config_set_global name="global_gpio_adapter_common" quick_selection="default"/>
+            </component>
+            <component name="generic_uart" uuid="e2176f5e-bfae-44bf-9ae7-5253becdddfa" type_id="generic_uart_8cae00565451cf2346eb1b8c624e73a6">
+               <config_set_global name="global_uart"/>
+            </component>
+            <component name="generic_can" uuid="a8335235-50ea-4aca-a006-aa73fcd95f74" type_id="generic_can_1bfdd78b1af214566c1f23cf6a582d80">
+               <config_set_global name="global_can"/>
+            </component>
+            <component name="uart_cmsis_common" uuid="dd55e60e-66c0-4980-808e-fe1c012d40fc" type_id="uart_cmsis_common_9cb8e302497aa696fdbb5a4fd622c2a8">
+               <config_set_global name="global_USART_CMSIS_common" quick_selection="default"/>
+            </component>
+            <component name="generic_enet" uuid="1a0aebd1-595c-442c-9741-c377be3f6029" type_id="generic_enet_74db5c914f0ddbe47d86af40cb77a619">
+               <config_set_global name="global_enet"/>
+            </component>
+         </components>
+      </periphs>
+      <tee name="TEE" version="4.0" enabled="false" update_project_code="true">
+         <generated_project_files/>
+         <tee_profile>
+            <processor_version>N/A</processor_version>
+         </tee_profile>
+      </tee>
+   </tools>
+</configuration>
diff --git a/hw/bsp/kinetis_k/family.c b/hw/bsp/kinetis_k/family.c
new file mode 100644
index 000000000..b6e0e4093
--- /dev/null
+++ b/hw/bsp/kinetis_k/family.c
@@ -0,0 +1,142 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2018, hathach (tinyusb.org)
+ * Copyright (c) 2020, Koji Kitayama
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "bsp/board.h"
+#include "board.h"
+#include "fsl_device_registers.h"
+#include "fsl_gpio.h"
+#include "fsl_port.h"
+#include "fsl_clock.h"
+#include "fsl_uart.h"
+
+#include "board/clock_config.h"
+#include "board/pin_mux.h"
+
+//--------------------------------------------------------------------+
+// Forward USB interrupt events to TinyUSB IRQ Handler
+//--------------------------------------------------------------------+
+void USB0_IRQHandler(void) {
+#if CFG_TUH_ENABLED
+  tuh_int_handler(0);
+#endif
+#if CFG_TUD_ENABLED
+  tud_int_handler(0);
+#endif
+}
+
+void board_init(void) {
+  BOARD_InitBootPins();
+  BOARD_BootClockRUN();
+  SystemCoreClockUpdate();
+
+#if CFG_TUSB_OS == OPT_OS_NONE
+  // 1ms tick timer
+  SysTick_Config(SystemCoreClock / 1000);
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
+  NVIC_SetPriority(USB0_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
+#endif
+
+
+  // LED
+  gpio_pin_config_t led_config = { kGPIO_DigitalOutput, 0 };
+  GPIO_PinInit(LED_PORT, LED_PIN, &led_config);
+  board_led_write(false);
+
+#if defined(BUTTON_PORT) && defined(BUTTON_PIN)
+  // Button
+  CLOCK_EnableClock(BUTTON_PIN_CLOCK);
+  port_pin_config_t button_port = {
+      .pullSelect = kPORT_PullUp,
+      .mux = BUTTON_PIN_FUNCTION,
+  };
+  PORT_SetPinConfig(BUTTON_PIN_PORT, BUTTON_PIN, &button_port);
+  gpio_pin_config_t button_config = { kGPIO_DigitalInput, 0 };
+  GPIO_PinInit(BUTTON_PORT, BUTTON_PIN, &button_config);
+#endif
+
+#if 0
+  // UART
+  CLOCK_EnableClock(UART_PIN_CLOCK);
+  PORT_SetPinMux(UART_PIN_PORT, UART_PIN_RX, UART_PIN_FUNCTION);
+  PORT_SetPinMux(UART_PIN_PORT, UART_PIN_TX, UART_PIN_FUNCTION);
+  SIM->SOPT5 = ((SIM->SOPT5 &
+    (~(SIM_SOPT5_UART0TXSRC_MASK | SIM_SOPT5_UART0RXSRC_MASK)))
+      | SIM_SOPT5_UART0TXSRC(SOPT5_UART0TXSRC_UART_TX)
+      | SIM_SOPT5_UART0RXSRC(SOPT5_UART0RXSRC_UART_RX)
+    );
+
+  lpuart_config_t uart_config;
+  LPUART_GetDefaultConfig(&uart_config);
+  uart_config.baudRate_Bps = CFG_BOARD_UART_BAUDRATE;
+  uart_config.enableTx = true;
+  uart_config.enableRx = true;
+  LPUART_Init(UART_PORT, &uart_config, CLOCK_GetFreq(kCLOCK_McgIrc48MClk));
+#endif
+
+  // USB
+  CLOCK_EnableUsbfs0Clock(kCLOCK_UsbSrcPll0, CLOCK_GetFreq(kCLOCK_PllFllSelClk));
+}
+
+//--------------------------------------------------------------------+
+// Board porting API
+//--------------------------------------------------------------------+
+
+void board_led_write(bool state) {
+  GPIO_PinWrite(LED_PORT, LED_PIN, state ? LED_STATE_ON : (1 - LED_STATE_ON));
+}
+
+uint32_t board_button_read(void) {
+#if defined(BUTTON_PORT) && defined(BUTTON_PIN)
+  return BUTTON_STATE_ACTIVE == GPIO_PinRead(BUTTON_PORT, BUTTON_PIN);
+#else
+  return 0;
+#endif
+}
+
+int board_uart_read(uint8_t *buf, int len) {
+  (void) buf;
+  (void) len;
+  return 0;
+}
+
+int board_uart_write(void const *buf, int len) {
+  (void) buf;
+  (void) len;
+  return 0;
+}
+
+#if CFG_TUSB_OS == OPT_OS_NONE
+volatile uint32_t system_ticks = 0;
+
+void SysTick_Handler(void) {
+  system_ticks++;
+}
+
+uint32_t board_millis(void) {
+  return system_ticks;
+}
+
+#endif
diff --git a/hw/bsp/kinetis_k/family.cmake b/hw/bsp/kinetis_k/family.cmake
new file mode 100644
index 000000000..853316c3a
--- /dev/null
+++ b/hw/bsp/kinetis_k/family.cmake
@@ -0,0 +1,112 @@
+include_guard()
+
+if (NOT BOARD)
+  message(FATAL_ERROR "BOARD not specified")
+endif ()
+
+set(SDK_DIR ${TOP}/hw/mcu/nxp/mcux-sdk)
+set(CMSIS_DIR ${TOP}/lib/CMSIS_5)
+
+# include board specific
+include(${CMAKE_CURRENT_LIST_DIR}/boards/${BOARD}/board.cmake)
+
+# toolchain set up
+set(CMAKE_SYSTEM_PROCESSOR cortex-m4 CACHE INTERNAL "System Processor")
+set(CMAKE_TOOLCHAIN_FILE ${TOP}/tools/cmake/toolchain/arm_${TOOLCHAIN}.cmake)
+
+set(FAMILY_MCUS KINETIS_K CACHE INTERNAL "")
+
+
+#------------------------------------
+# BOARD_TARGET
+#------------------------------------
+# only need to be built ONCE for all examples
+function(add_board_target BOARD_TARGET)
+  if (NOT TARGET ${BOARD_TARGET})
+    add_library(${BOARD_TARGET} STATIC
+      # driver
+      ${SDK_DIR}/drivers/gpio/fsl_gpio.c
+      ${SDK_DIR}/drivers/uart/fsl_uart.c
+      ${SDK_DIR}/devices/${MCU_VARIANT}/drivers/fsl_clock.c
+      ${SDK_DIR}/devices/${MCU_VARIANT}/system_${MCU_VARIANT}.c
+      )
+    target_compile_definitions(${BOARD_TARGET} PUBLIC
+      )
+    target_include_directories(${BOARD_TARGET} PUBLIC
+      ${CMSIS_DIR}/CMSIS/Core/Include
+      ${SDK_DIR}/devices/${MCU_VARIANT}
+      ${SDK_DIR}/devices/${MCU_VARIANT}/drivers
+      ${SDK_DIR}/drivers/common
+      ${SDK_DIR}/drivers/gpio
+      ${SDK_DIR}/drivers/port
+      ${SDK_DIR}/drivers/smc
+      ${SDK_DIR}/drivers/uart
+      )
+
+    update_board(${BOARD_TARGET})
+
+    # LD_FILE and STARTUP_FILE can be defined in board.cmake
+    set(STARTUP_FILE_GNU ${SDK_DIR}/devices/${MCU_VARIANT}/gcc/startup_${MCU_VARIANT}.S)
+
+    target_sources(${BOARD_TARGET} PUBLIC
+      ${STARTUP_FILE_${CMAKE_C_COMPILER_ID}}
+      )
+
+    if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
+      target_link_options(${BOARD_TARGET} PUBLIC
+        "LINKER:--script=${LD_FILE_GNU}"
+        # nanolib
+        --specs=nosys.specs
+        --specs=nano.specs
+        )
+    elseif (CMAKE_C_COMPILER_ID STREQUAL "IAR")
+      target_link_options(${BOARD_TARGET} PUBLIC
+        "LINKER:--config=${LD_FILE_IAR}"
+        )
+    endif ()
+  endif ()
+endfunction()
+
+
+#------------------------------------
+# Functions
+#------------------------------------
+function(family_configure_example TARGET RTOS)
+  family_configure_common(${TARGET} ${RTOS})
+
+  # Board target
+  add_board_target(board_${BOARD})
+
+  #---------- Port Specific ----------
+  # These files are built for each example since it depends on example's tusb_config.h
+  target_sources(${TARGET} PUBLIC
+    # BSP
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/family.c
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../board.c
+    )
+  target_include_directories(${TARGET} PUBLIC
+    # family, hw, board
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../../
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/boards/${BOARD}
+    )
+
+  # Add TinyUSB target and port source
+  family_add_tinyusb(${TARGET} OPT_MCU_KINETIS_K ${RTOS})
+  target_sources(${TARGET}-tinyusb PUBLIC
+    ${TOP}/src/portable/chipidea/ci_fs/dcd_ci_fs.c
+    ${TOP}/src/portable/nxp/khci/hcd_khci.c
+    )
+  target_link_libraries(${TARGET}-tinyusb PUBLIC board_${BOARD})
+
+  # Link dependencies
+  target_link_libraries(${TARGET} PUBLIC board_${BOARD} ${TARGET}-tinyusb)
+
+  # Flashing
+  family_flash_jlink(${TARGET})
+
+  if (DEFINED TEENSY_MCU)
+    family_add_bin_hex(${TARGET})
+    family_flash_teensy(${TARGET})
+  endif ()
+endfunction()
diff --git a/hw/bsp/kinetis_k/family.mk b/hw/bsp/kinetis_k/family.mk
new file mode 100644
index 000000000..de352a6a9
--- /dev/null
+++ b/hw/bsp/kinetis_k/family.mk
@@ -0,0 +1,34 @@
+SDK_DIR = hw/mcu/nxp/mcux-sdk
+DEPS_SUBMODULES += $(SDK_DIR) lib/CMSIS_5
+
+MCU_DIR = $(SDK_DIR)/devices/${MCU_VARIANT}
+include $(TOP)/$(BOARD_PATH)/board.mk
+CPU_CORE ?= cortex-m4
+
+CFLAGS += \
+  -DCFG_TUSB_MCU=OPT_MCU_KINETIS_K \
+
+LDFLAGS += \
+  -Wl,--defsym,__stack_size__=0x400 \
+  -Wl,--defsym,__heap_size__=0
+
+SRC_C += \
+	src/portable/nxp/khci/dcd_khci.c \
+	src/portable/nxp/khci/hcd_khci.c \
+	$(MCU_DIR)/system_${MCU_VARIANT}.c \
+	$(MCU_DIR)/drivers/fsl_clock.c \
+	$(SDK_DIR)/drivers/gpio/fsl_gpio.c \
+	$(SDK_DIR)/drivers/uart/fsl_uart.c \
+
+INC += \
+	$(TOP)/$(BOARD_PATH) \
+	$(TOP)/lib/CMSIS_5/CMSIS/Core/Include \
+	$(TOP)/$(MCU_DIR) \
+	$(TOP)/$(MCU_DIR)/drivers \
+	$(TOP)/$(SDK_DIR)/drivers/common \
+	$(TOP)/$(SDK_DIR)/drivers/gpio \
+	$(TOP)/$(SDK_DIR)/drivers/port \
+	$(TOP)/$(SDK_DIR)/drivers/smc \
+	$(TOP)/$(SDK_DIR)/drivers/uart \
+
+SRC_S += ${SDK_DIR}/devices/${MCU_VARIANT}/gcc/startup_${MCU_VARIANT}.S
diff --git a/tools/get_deps.py b/tools/get_deps.py
index 9b89c5e4c..388a68c83 100644
--- a/tools/get_deps.py
+++ b/tools/get_deps.py
@@ -52,7 +52,7 @@ deps_optional = {
                            'lpc11 lpc13 lpc15 lpc17 lpc18 lpc40 lpc43'],
     'hw/mcu/nxp/mcux-sdk': ['https://github.com/hathach/mcux-sdk.git',
                             '950819b7de9b32f92c3edf396bc5ffb8d66e7009',
-                            'kinetis_k32l2 kinetis_kl lpc51 lpc54 lpc55 mcx imxrt'],
+                            'kinetis_k kinetis_k32l2 kinetis_kl lpc51 lpc54 lpc55 mcx imxrt'],
     'hw/mcu/raspberry_pi/Pico-PIO-USB': ['https://github.com/sekigon-gonnoc/Pico-PIO-USB.git',
                                          '58879cfa0eca5725d8db6443ec17f8896a321042',
                                          'rp2040'],